U.S. patent number 11,027,725 [Application Number 16/340,972] was granted by the patent office on 2021-06-08 for self position estimation method and self position estimation device.
This patent grant is currently assigned to Nissan Motor Co., Ltd.. The grantee listed for this patent is Nissan Motor Co., Ltd.. Invention is credited to Yasuhisa Hayakawa, Yukinori Nishida, Yasuhiro Sakurai, Daisuke Tanaka, Ichiro Yamaguchi.
United States Patent |
11,027,725 |
Hayakawa , et al. |
June 8, 2021 |
Self position estimation method and self position estimation
device
Abstract
A self position estimation method is provided which is capable
of accurately estimating, when executing automatic parking to a
parking target position using a stored surrounding situation, a
position of a host vehicle or a target in the surrounding situation
stored in a storage device. The method includes a step that
presents the stored surrounding situation, a step that receives an
operation of setting a positional relationship between the stored
surrounding situation, and at least one of the host vehicle and the
targets existing around the host vehicle, and a step that sets a
position of at least one of the host vehicle and the target in the
stored surrounding situation based on the operation.
Inventors: |
Hayakawa; Yasuhisa (Kanagawa,
JP), Yamaguchi; Ichiro (Kanagawa, JP),
Sakurai; Yasuhiro (Kanagawa, JP), Tanaka; Daisuke
(Kanagawa, JP), Nishida; Yukinori (Kanagawa,
JP) |
Applicant: |
Name |
City |
State |
Country |
Type |
Nissan Motor Co., Ltd. |
Yokohama |
N/A |
JP |
|
|
Assignee: |
Nissan Motor Co., Ltd.
(Yokohama, JP)
|
Family
ID: |
61905352 |
Appl.
No.: |
16/340,972 |
Filed: |
October 13, 2016 |
PCT
Filed: |
October 13, 2016 |
PCT No.: |
PCT/JP2016/080387 |
371(c)(1),(2),(4) Date: |
April 10, 2019 |
PCT
Pub. No.: |
WO2018/070022 |
PCT
Pub. Date: |
April 19, 2018 |
Prior Publication Data
|
|
|
|
Document
Identifier |
Publication Date |
|
US 20190283735 A1 |
Sep 19, 2019 |
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G08G
1/16 (20130101); B60W 30/06 (20130101); B62D
15/0285 (20130101); B60W 50/14 (20130101); G06T
7/70 (20170101); B60K 35/00 (20130101); G08G
1/168 (20130101); B60R 21/00 (20130101); B60K
2370/165 (20190501); B60K 2370/179 (20190501); B60K
2370/117 (20190501); B60K 2370/177 (20190501); G06T
2207/30264 (20130101); B60K 2370/1468 (20190501); B60K
2370/173 (20190501); G06T 2207/30244 (20130101) |
Current International
Class: |
B60R
21/00 (20060101); B60W 50/14 (20200101); G08G
1/16 (20060101); B62D 15/02 (20060101); B60W
30/06 (20060101); G06T 7/70 (20170101); B60W
40/02 (20060101); B60K 35/00 (20060101) |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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1591256 |
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Mar 2005 |
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CN |
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1737501 |
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Feb 2006 |
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CN |
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1918173 |
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May 2008 |
|
EP |
|
H05-216407 |
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Aug 1993 |
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JP |
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2004-291865 |
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Oct 2004 |
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JP |
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2005-035498 |
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Feb 2005 |
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JP |
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2005-041373 |
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Feb 2005 |
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JP |
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2005-067565 |
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Mar 2005 |
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JP |
|
2007-237930 |
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Sep 2007 |
|
JP |
|
2007-263844 |
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Oct 2007 |
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JP |
|
2013-209015 |
|
Oct 2013 |
|
JP |
|
5957745 |
|
Jul 2016 |
|
JP |
|
10-2015-0066182 |
|
Jun 2015 |
|
KR |
|
2015/092134 |
|
Jun 2015 |
|
WO |
|
Primary Examiner: Brushaber; Frederick M
Attorney, Agent or Firm: Young Basile Hanlon &
MacFarlane, P.C.
Claims
The invention claimed is:
1. A self position estimation method of a parking assistance device
that stores surrounding situation of a parking target position in a
storage device and executes automatic parking using the stored
surrounding situation during parking to the parking target
position, the method comprising: presenting the stored surrounding
situation; receiving from an occupant an operation of setting a
positional relationship between the stored surrounding situation,
and a host vehicle and an object existing around the host vehicle
before starting the automatic parking; and setting a position of
the host vehicle or a position of the object in the stored
surrounding situation based on the operation received from the
occupant.
2. The self position estimation method of claim 1, further
comprising: detecting surrounding situation of the host vehicle;
and estimating the position of the host vehicle or the object in
the stored surrounding situation based on the detected surrounding
situation, wherein the presenting presents the position of the host
vehicle or the object in the stored surrounding situation and
presents the position of the host vehicle or the object in the
detected surrounding situation, and wherein the receiving receives
an operation of associating the position of the host vehicle or the
object in the stored surrounding situation with the position of the
host vehicle or the object in the detected surrounding
situation.
3. The self position estimation method of claim 2, wherein the
stored surrounding situation or the detected surrounding situation
is presented as an overhead view image.
4. The self position estimation method of claim 2, further
comprising: determining whether or not a predetermined specific
object is detected as the detected surrounding situation; and
presenting detection of the specific object to the occupant in a
case where the specific object is detected.
5. The self position estimation method of claim 2, further
comprising: detecting a relative positional relationship between
the host vehicle and the object in the detected surrounding
situation according to the surrounding situation of the host
vehicle, wherein the setting the position of the host vehicle or
the position of the object sets a positional relationship in the
stored surrounding situation of the other of the detected host
vehicle or object based on the relative positional relationship, in
a case where a positional relationship in the stored surrounding
situation of any one of the detected host vehicle or the object is
set.
6. The self position estimation method of claim 1, wherein the
object existing around the host vehicle includes a line on a
road.
7. A self position estimation device of a parking assistance device
configured to store surrounding situation of a parking target
position in a storage device and execute automatic parking using
the stored surrounding situation during parking to the parking
target position, the self position estimation device comprising: a
display or speaker configured to present the stored surrounding
situation; an interface configured to receive from an occupant an
operation of setting a positional relationship between the stored
surrounding situation, and a host vehicle and an object existing
around the host vehicle when the stored surrounding situation is
presented before starting the automatic parking; and a controller
configured to set a position of the host vehicle or a position of
the object in the stored surrounding situation based on the
operation received from the occupant.
Description
TECHNICAL FIELD
The present invention relates to a self position estimation method
and a self position estimation device.
BACKGROUND
Conventionally, there is known a technique that includes
positioning means that positions a position of a mobile body and
sensor means that detects a movement state of the mobile body, and
performs matching on a map based on a positioning result by the
positioning means and a detection result by the sensor means to
calculate a position of a host vehicle on the map (see JP
2007-263844 A).
SUMMARY
However, when using techniques described in JP 2007-263844 A to
estimate a position of the host vehicle on the map when executing
an automatic parking to a parking target position with reference to
the map, an error may occur in the positioning result by the
positioning means and the detection result by the sensor means
depending on parking environment. Therefore, it may be difficult to
accurately estimate the position of the host vehicle on the
map.
In view of the aforementioned problem, the invention intends to
provide a self position estimation method and a self position
estimation device capable of accurately estimating, when executing
automatic parking to a parking target position with reference to a
stored surrounding situation of the parking target position, the
position of the host vehicle or the target in the stored
surrounding situation.
According to one aspect of the invention, when executing automatic
parking to a parking target position with reference to a stored
surrounding situation of the parking target position, the stored
surrounding situation is presented. Then, a self position
estimation method and a self position estimation device is
characterized in that an operation of setting a positional
relationship between the stored surrounding situation and a host
vehicle or a target is received, and a position of the host vehicle
or a position of the target in the stored surrounding situation is
set based on the operation.
According to the invention, it is possible to provide a self
position estimation method and a self position estimation device
capable of accurately estimating, when executing automatic parking
to a parking target position with reference to stored surrounding
situation of the parking target position, a position of a host
vehicle or a target in the stored surrounding situation.
BRIEF DESCRIPTION OF DRAWINGS
FIG. 1 is a block diagram illustrating an example of a self
position estimation device according to an embodiment of the
present invention;
FIG. 2 is a schematic diagram illustrating an example of map data
stored in a storage device according to the embodiment of the
present invention;
FIG. 3 is a schematic diagram illustrating an example of a
detection result of a surrounding situation sensor according to the
embodiment of the present invention;
FIG. 4A is a schematic diagram illustrating an example of an image
presented in a presentation unit according to the embodiment of the
present invention;
FIG. 4B is a schematic diagram illustrating an example of an
operation on the image presented in the presentation unit according
to the embodiment of the present invention;
FIG. 4C is a schematic diagram illustrating another example of an
operation on the image presented in the presentation unit according
to the embodiment of the present invention;
FIG. 5 is a flowchart describing an example of a method of
generating map data according to the embodiment of the present
invention;
FIG. 6 is a flowchart describing an example of a self position
estimation method according to the embodiment of the present
invention;
FIG. 7A is a schematic diagram illustrating an example of an image
presented in a presentation unit according to a first modification
of the embodiment of the present invention;
FIG. 7B is a schematic diagram illustrating an example of an
operation on the image presented in the presentation unit according
to the first modification of the embodiment of the present
invention;
FIG. 8A is a schematic diagram illustrating an example of an image
presented in a presentation unit according to a second modification
of the embodiment of the present invention;
FIG. 8B is a schematic diagram illustrating an example of an
operation on the image presented in the presentation unit according
to the second modification of the embodiment of the present
invention;
FIG. 9A is a schematic diagram illustrating an example of an image
presented in a presentation unit according to a third modification
of the embodiment of the present invention;
FIG. 9B is a schematic diagram illustrating an example of an
operation on the image presented in the presentation unit according
to the third modification of the embodiment of the present
invention;
FIG. 10A is a schematic diagram illustrating an example of map data
stored in a storage device according to a fourth modification of
the embodiment of the present invention;
FIG. 10B is a schematic diagram illustrating an example of a
detection result of a surrounding situation sensor according to the
fourth modification of the embodiment of the present invention;
FIG. 10C is a schematic diagram illustrating an example of an
operation on a detection result of the surrounding situation sensor
according to the fourth modification of the embodiment of the
present invention;
FIG. 10D is a schematic diagram illustrating an example of
correction of the detection result of the surrounding situation
sensor according to the fourth modification of the embodiment of
the present invention;
FIG. 11A is a schematic diagram illustrating an example of an image
presented in a presentation unit according to a fifth modification
of the embodiment of the present invention;
FIG. 11B is a schematic diagram illustrating an example of an
operation on the image presented in the presentation unit according
to the fifth modification of the embodiment of the present
invention;
FIG. 12A is a schematic diagram illustrating an example of an image
presented in a presentation unit according to a sixth modification
of the embodiment of the present invention; and
FIG. 12B is a schematic diagram illustrating an example of an
operation on the image presented in the presentation unit according
to the sixth modification of the embodiment of the present
invention.
DETAILED DESCRIPTION OF THE EMBODIMENTS
Embodiments of the invention will be described below with reference
to the drawings. In the following description of the drawings, the
same or similar reference numerals are affixed to the same or
similar parts. However, note that the drawings are schematic, a
relationship between a thickness and a planar dimension, a
thickness ratio and the like are different from actual ones. In
addition, it is a matter of course that there exist portions in
drawings where a relationship and a ratio of dimensions are
different even between drawings. In addition, the embodiments
described below are examples of devices and methods for embodying a
technical idea of the invention, and the technical idea of the
invention does not limit material, shape, structure, arrangement
and the like of components to the following ones. The technical
idea of the invention can be modified variously within the
technical scope defined by the claims stated in the claims.
A self position estimation device according to an embodiment of the
present invention can be used in a parking assistance device
storing a surrounding situation of a parking target position in a
storage device, and performing an automatic parking using the
stored surrounding situation, and is directed to estimate a
position (self position) and the like of a host vehicle in the
stored surrounding situation. The self position estimation device
according to the embodiment of the present invention can be mounted
on a vehicle (hereinafter, the vehicle on which the self position
estimation device according to the embodiment of the present
invention is mounted is referred to as a "host vehicle"). As
illustrated in FIG. 1, the self position estimation device
according to the embodiment of the present invention includes a
control device (controller) 1, a storage device 2, a surrounding
situation sensor 3, a presentation unit 4, and an operation unit
(interface) 5.
The storage device 2 is constituted by a semiconductor storage
device, a magnetic storage device, an optical storage device or the
like, and can constitute a register, a cache memory, a main storage
device and the like. The storage device 2 stores a surrounding
situation of a parking target position referred to when executing
an automatic parking to the parking target position. As illustrated
in FIG. 2, the storage device 2 stores map data as an example of a
surrounding situation of a parking target position P1. FIG. 2
illustrates a case where the map data is an overhead view image and
a computer graphics (CG) image, but the invention is not limited
thereto. The map data shows a positional relationship of targets
21, 22, 23 and 24 existing around the parking target position P1.
The targets 21, 22, 23, and 24 include stationary standing objects
(obstacles) such as markers, utility poles, walls, trees, and other
vehicles parked, white lines on the road, parking frames, and the
like. A range of the map data is not particularly limited and may
be any range as long as automatic parking to the parking target
position P1 is possible.
The surrounding situation of the parking target position such as
the map data stored in the storage device 2 is obtained as a result
of learning by detecting the surrounding situation of the parking
target position using a surrounding situation sensor 3 during
single parking or multiple parking. Here, the "single parking"
includes, for example, an operation until the host vehicle reaches
the parking target position. Further, even in a case where the host
vehicle does not reach the parking target position, the "single
parking" includes an operation of the host vehicle travelling
around the parking target position and an operation until the host
vehicle turns back around the parking target position, as long as
the surrounding situation of the parking target position can be
detected by the surrounding situation sensor 3.
In addition, the "multiple parking" means repeating the single
parking, but the timing of repeating is not particularly limited,
and for example, a second parking may be executed immediately after
a first parking, and the second parking may be executed the day
after the first parking is executed. Further, the multiple parking
may be the same parking operation as each other or may be different
parking operations from each other. For example, when the parking
is executed twice, the first parking may be an operation until the
host vehicle reaches the parking target position, and the second
parking may be an operation of the host vehicle travelling around
the parking target position. In a case where the multiple parking
is repeated, map data with higher accuracy can be generated by
integrating and supplementing the surrounding situation obtained
for each parking.
The surrounding situation of the parking target position stored in
the storage device 2 can be referred to during the subsequent or
later parking. The timing of the "subsequent or later parking" is
not particularly limited and includes, for example, the timing
immediately after learning the surrounding situation of the parking
target position and the timing since the day after the day when the
surrounding situation of the parking target position is learned.
Further, the parking operation of the "subsequent or later parking"
includes operations of the host vehicle targeting the parking
target position such as an operation of the host vehicle reaching
the parking target position and an operation of the host vehicle
travelling around the parking target position.
The surrounding situation sensor 3 illustrated in FIG. 1 detects
the surrounding situation of the host vehicle including a front, a
side and a rear of the host vehicle. As the surrounding situation
sensor 3, for example, a laser radar, a millimeter wave radar, a
camera, a laser range finder (LRF), or the like can be used. The
number, a type, and an arrangement position of the surrounding
situation sensor 3 are not particularly limited, and for example, a
plurality of the surrounding situation sensors 3 may be provided at
the front, the side, and the rear of the host vehicle. FIG. 3
illustrates an example of the surrounding situation (point group
data) of the host vehicle detected by the surrounding situation
sensor 3, and a point group 26 in FIG. 3 indicates an edge position
of the target (obstacle). The range of the point group data
illustrated in FIG. 3 is substantially in common with the range of
the map data illustrated in FIG. 2. Further, the range of the point
group data illustrated in FIG. 3 may be narrower than the range of
the map data illustrated in FIG. 2 or may be wider than the range
of the map data illustrated in FIG. 2.
As the presentation unit 4 illustrated in FIG. 1, for example, a
display such as a liquid crystal display can be used. The
presentation unit 4 is installed at a position, such as an
instrument panel in a vehicle interior, which is easily visible
from an occupant. The operation unit 5 receives an operation from
an occupant. The operation unit 5 may be a touch panel, a button or
a switch of the presentation unit 4 or may be a button, a switch or
the like provided on a center console or the like separately from
the presentation unit 4.
The control device 1 is, for example, a controller such as an
electronic control unit (ECU) and can be constituted by a computer
including a central processing unit (CPU), a processor equivalent
to a computer, or the like. The control device 1 may have a
programmable logic device (PLD) such as a field programmable gate
array (FPGA) or may be a functional logic circuit or the like set
in a general purpose semiconductor integrated circuit.
The control device 1 functionally includes an estimation unit 11, a
presentation control unit 12, a setting unit 13, and a parking
assistance unit 14. The estimation unit 11 collates (matches) a
position of the host vehicle and a position of the target in the
surrounding situation of the host vehicle detected by the
surrounding situation sensor 3 with the map data stored in the
storage device 2, thereby estimating the position (self position)
of the host vehicle and the position of the target on the map data.
For example, the estimation unit 11 superimposes the map data
illustrated in FIG. 2 and the surrounding situation of the host
vehicle illustrated in FIG. 3 such that the corresponding targets
21, 22, 23, and 24 are matched. Then, the position (self position)
of the host vehicle on the map data is estimated based on a
relative positional relationship between the surrounding situation
of the host vehicle and the host vehicle illustrated in FIG. 3.
Here, depending on accuracy of the surrounding situation sensor 3,
weather, sunlight condition, parking environment such as a
multi-level parking lot, it is not possible to accurately match the
surrounding situation of the host vehicle and the map data, and the
position of the host vehicle on the map data may not be accurately
estimated in some cases.
The presentation control unit 12 determines whether or not a
predetermined specific target (for example, a point group
corresponding to the target 24 in FIG. 2) has been detected as the
surrounding situation of the host vehicle detected by the
surrounding situation sensor 3, and presents a determination result
to the occupant by voice or display. The specific target is a
target that makes it easier to estimate the position of the host
vehicle due to its position and shape, and can be set as
appropriate. In a case where it is determined that the specific
target has been detected, the fact that the specific target has
been detected is presented to the occupant, whereby the occupant
can grasp that the occupant is under an environment in which it is
easy to estimate the position of the host vehicle. On the other
hand, in a case where it is determined that the specific target has
not been detected, the fact that the specific target has not been
detected is presented to the occupant, whereby the occupant can
grasp that the occupant is under an environment in which it is not
easy to estimate the position of the host vehicle. Incidentally, as
the specific target, only one target may be set, or a plurality of
targets may be set. In a case where a plurality of targets are set,
the presentation control unit 12 may determine whether or not all
of the plurality of targets have been detected or determine whether
or not a predetermined number or more of the plurality of targets
has been detected.
As illustrated in FIG. 4A, the presentation control unit 12 causes
the presentation unit 4 to present an image I1 obtained by
collating (matching) the map data stored in the storage device 2
and the surrounding situation (point group data) of the host
vehicle detected by the surrounding situation sensor 3. In the
presentation unit 4, the entire map data may be presented or a part
of the map data may be presented. In a case where a part of the map
data is presented in the presentation unit 4, the map data may be
scrollable vertically and horizontally. Likewise, the presentation
unit 4 may present the entire surrounding situation of the host
vehicle detected by the surrounding situation sensor 3 or may
present a part of the surrounding situation. In a case where a part
of the surrounding situation is presented in the presentation unit
4, the surrounding situation may be scrollable vertically and
horizontally. Further, a size of the map data presented in the
presentation unit 4 may be the same as a size of the surrounding
situation or the sizes may be different from each other. For
example, the entire surrounding situation may be superimposed on a
part of the map data presented in the presentation unit 4.
Alternatively, the entire map data may be superimposed on a part of
the surrounding situation presented in the presentation unit 4.
Further, as illustrated in FIG. 4A, the presentation control unit
12 causes a simulation vehicle (icon) 27 to be presented at the
position of the host vehicle on the map data estimated by the
estimation unit 11. Incidentally, since it is sufficient for the
occupant to identify the position of the host vehicle on the map
data estimated by the estimation unit 11, a figure such as a
rectangle, without being limited to the simulation vehicle 27, may
be presented in the presentation unit 4.
Further, the presentation control unit 12 may request the occupant
to operate by presenting character information and audio
information such as "please align positions of the map data and the
surrounding situation" or "please align positions of the map data
and the icon" to the occupant.
When the image I1 illustrated in FIG. 4A is presented in the
presentation unit 4, the operation unit 5 receives from the
occupant an operation of setting (adjusting) a positional
relationship between the map data and at least one of the positions
of the host vehicle and the target existing around the host
vehicle. For example, in a case where the operation unit 5 is a
touch panel, as illustrated in FIG. 4B, the occupant touches and
scrolls the target 24 on the map data in the direction of an arrow
(downward) with a finger 31, whereby the entire map data including
the targets 21, 22, 23 and 24 is shifted downward. As a result, it
is possible to match the targets 21, 22, 23 and 24 on the map data
and the corresponding point group 26. Further, in a case where an
orientation of the map data and an orientation of the surrounding
situation of the host vehicle are deviated from each other, the
entire map data may be rotated by an operation such as rotating two
fingers in contact with an arbitrary position on the map data.
Further, as illustrated in FIG. 4C, the occupant may touch and
scroll the simulation vehicle 27 in the direction of the arrow
(upward) with the finger 31, thereby shifting the simulation
vehicle 27 and the entire surrounding situation of the host vehicle
upward. Since the position of the host vehicle corresponding to the
position of the simulation vehicle 27 is obtained from a positional
relationship relative to the surrounding situation of the host
vehicle, the surrounding situation of the host vehicle also moves
as the simulation vehicle 27 moves. As a result, it is possible to
match the targets 21, 22, 23, and 24 on the map data and the
corresponding point group 26. In addition, the occupant may shift
the simulation vehicle 27 and the entire surrounding situation of
the host vehicle by touching and scrolling an arbitrary position of
the point group 26, which is the surrounding situation of the host
vehicle, with the finger 31.
Incidentally, instead of touching and scrolling the simulation
vehicle 27, the occupant may directly set the position of the host
vehicle on the map data by touching the position of the host
vehicle on the map data. In a case where the operation unit 5 is
not a touch panel but a button, the simulation vehicle 27 may be
moved by pressing the button. As described above, the operation
method of setting the positional relationship between the map data
and the surrounding situation of the host vehicle or the host
vehicle is not particularly limited, and various methods can be
adopted. In addition, the operation method of setting the
positional relationship between the map data and the surrounding
situation of the host vehicle or the host vehicle may be set in
advance or may be selectable by operation of the operation unit 5
as appropriate.
The setting unit 13 sets at least one of the position of the host
vehicle and the position of the target on the map data based on
operation information for setting the positional relationship
between the map data and the surrounding situation of the host
vehicle or the host vehicle. For example, as illustrated in FIG.
4B, in a case where the occupant executes an operation of setting a
positional relationship between the map data and the surrounding
situation of the host vehicle, the setting unit 13 corrects the
result of collating (matching) the surrounding situation of the
host vehicle and the map data by the estimation unit 11 to be a
positional relationship corresponding to FIG. 4B. Further, the
setting unit 13 corrects the position of the host vehicle estimated
by the estimation unit 11 based on the corrected collating
(matching) result. Further, as illustrated in FIG. 4C, in a case
where the occupant executes an operation of setting the positional
relationship between the map data and the host vehicle, the setting
unit 13 corrects the position of the host vehicle on the map data
estimated by the estimation unit 11 to be a position corresponding
to FIG. 4C.
For example, in a case where the positional relationship of the
detected host vehicle on the map data is set via the operation unit
5, the setting unit 13 may set the positional relationship of the
detected target on the map data, based on the relative positional
relationship between the host vehicle and the target. Further, in a
case where the positional relationship of the detected target on
the map data is set via the operation unit 5, the setting unit 13
may set the positional relationship of the detected host vehicle on
the map data, based on the relative positional relationship between
the host vehicle and the target.
When the automatic parking is performed, the parking assistance
unit 14 initializes the position of the host vehicle on the map
data set by the setting unit 13 as a parking start position. Then,
the parking assistance unit 14 outputs control signals to various
actuators mounted on the host vehicle so as to automatically park
the host vehicle from the parking start position to the parking
target position P1. The parking assistance unit 14 may be provided
as a parking assistance device separately from the control device
1.
Here, with reference to the flowchart of FIG. 5, an example of a
method of generating map data stored in the storage device 2 will
be described. In step S11, the current position of the host vehicle
is initialized as the parking start position. In step S12, while
the surrounding situation of the host vehicle is detected by the
surrounding situation sensor 3, the host vehicle is parked from the
parking start position to the parking target position P1. In step
S13, it is determined whether or not the parking to the parking
target position P1 has been completed and the detection of the
surrounding situation has been completed. The detection of the
surrounding situation of the host vehicle is continued by the
surrounding situation sensor 3 until it is determined that the
detection of the surrounding situation has been completed, and in a
case where it is determined that the detection of the surrounding
situation has been completed, the process proceeds to step S14. In
step S14, map data is generated using the surrounding situation
detected by the surrounding situation sensor 3, and the generated
map data is stored in the storage device 2. Incidentally, the
processing of the flowchart of FIG. 5 may be executed a plurality
of times, and the map data obtained by integrating the map data
obtained at each time may be adopted.
Next, an example of the self position estimation method according
to the embodiment of the present invention will be described with
reference to the flowchart of FIG. 6.
In step S20, the estimation unit 11 estimates the current position
of the host vehicle based on global positioning system (GPS) signal
or the like. Based on the estimated current position of the host
vehicle, the estimation unit 11 specifies, from the data stored in
the storage device 2, the map data around the parking target
position P1 for use in automatic parking as illustrated in FIG. 2.
As illustrated in FIG. 3, the surrounding situation sensor 3
detects the surrounding situation of the host vehicle.
In step S21, the estimation unit 11 determines whether or not the
position of the host vehicle can be estimated (or whether or not it
is easy to estimate the position) by determining whether or not a
specific target (for example, the target 24) determined in advance
as the surrounding situation of the host vehicle detected by the
surrounding situation sensor 3 is detected. In a case where it is
determined that the specific target is not detected and the
position of the host vehicle cannot be estimated (or it is
difficult to estimate the position), the process proceeds to step
S22, where the fact that the position of the host vehicle cannot be
estimated (or it is difficult to estimate the position) is
presented to the occupant via voice, presentation or the like, and
the process ends.
On the other hand, in step S21, in a case where the specific target
is detected as the surrounding situation of the host vehicle
detected by the surrounding situation sensor 3 and it is determined
that the position of the host vehicle can be estimated (or it is
easy to estimate the position), the process proceeds to step S23.
In step S23, the estimation unit 11 presents the fact that the
position of the host vehicle can be estimated (or it is easy to
estimate the position) to the occupant via voice, presentation or
the like. Further, the estimation unit 11 estimates the position of
the host vehicle on the map data by collating (matching) the map
data stored in the storage device 2 and the surrounding situation
of the host vehicle detected by the surrounding situation sensor
3.
In step S24, as illustrated in FIG. 4A, the presentation control
unit 12 causes the presentation unit 4 to present the image I1
which is the result of collating (matching) between the map data
and the surrounding situation of the host vehicle. Further, the
presentation control unit 12 presents the simulation vehicle 27 at
the position of the host vehicle estimated by the estimation unit
11. Incidentally, in a case where the image I1 is presented in the
presentation unit 4, the operation unit 5 receives an operation of
setting the positional relationship between the map data and at
least one of the host vehicle and the target. The occupant operates
the operation unit 5 so as to set a correct positional relationship
between the map data and the target or the simulation vehicle 27
(correct deviation in the positional relationship). When there is
no positional deviation between the map data and the target or the
simulation vehicle 27, the occupant may perform an operation to
input the fact that the positional relationship between the map
data and the target or the simulation vehicle 27 is correct. As
illustrated in FIG. 4B or FIG. 4C, the presentation control unit 12
changes the presentation of the presentation unit 4, according to
the operation information of the occupant.
In step S25, the presentation control unit 12 determines whether or
not the operation of the occupant has been received via the
operation unit 5. The presentation of the presentation unit 4 is
continued until it is determined that the operation of the occupant
has been received and, in a case where it is determined that the
operation of the occupant has been received, the process proceeds
to step S26.
In step S26, based on the operation information of the occupant,
the setting unit 13 corrects a result of collating the surrounding
situation of the host vehicle with the map data by the estimation
unit 11, that is, the position of the host vehicle or the position
of the target on the map data.
In step S27, the parking assistance unit 14 initializes the
position of the host vehicle on the map data set by the setting
unit 13 as the parking start position. The parking assistance unit
14 outputs control signals to various actuators mounted on the host
vehicle so that the host vehicle is automatically parked from the
parking start position to the parking target position, using the
map data.
The self position estimation program according to an embodiment of
the present invention causes a computer constituting the control
device 1 to execute a procedure of the self position estimation
method illustrated in FIG. 6. The self position estimation program
according to the embodiment of the present invention can be stored
in the storage device 2, for example.
As described above, according to the embodiment of the present
invention, when the automatic parking is performed using the
surrounding situation of the parking target position stored in the
storage device 2 during the parking to the parking target position,
the presentation control unit 12 presents the stored surrounding
situation (map data) on the presentation unit 4. Then, the
operation unit 5 receives an operation of setting a positional
relationship between the stored surrounding situation, and the host
vehicle and the target existing around the host vehicle. Then, the
setting unit 13 sets the position of the host vehicle or the
position of the target in the stored surrounding situation, based
on the operation. Thus, regardless of the parking environment, the
position of the host vehicle and the position of the target on the
map can be accurately estimated. Therefore, accuracy of estimation
of the parking start position is important during the automatic
parking. However, since the parking start position can be estimated
with high accuracy, a path from the parking start position to the
parking target position can be calculated accurately and the host
vehicle can be parked to the parking target position
accurately.
Further, the estimation unit 11 estimates the position of the host
vehicle or the target in the surrounding situation (map data) of
the stored parking target position based on the surrounding
situation of the host vehicle detected by the surrounding situation
sensor 3. The presentation control unit 12 presents the position or
the target of the host vehicle in the stored surrounding situation
on the presentation unit 4 and presents the position or the target
of the host vehicle in the detected surrounding situation on the
presentation unit 4. The operation unit 5 receives an operation of
associating the position of the host vehicle or the target in the
stored surrounding situation with the position of the host vehicle
or the target in the detected surrounding situation. As a result,
while visually recognizing the presentation of the presentation
unit 4, the occupant can perform an operation of setting so as to
match the targets 21, 22, 23 and 24 on the map data and the point
group 26 indicating the position of the corresponding target of the
surrounding situation (point group data) of the host vehicle.
Further, the occupant can accurately grasp the relative positional
relationship between the host vehicle and the surrounding situation
of the host vehicle by adopting an overhead view image as the map
data which is the surrounding situation stored in the storage
device 2 and causing the presentation unit 4 to present the map
data as the overhead view image. Further, the surrounding situation
of the host vehicle detected by the surrounding situation sensor 3
may be presented in the presentation unit 4 as the overhead view
image. In this case, the occupant can accurately grasp the relative
positional relationship between the host vehicle and the
surrounding situation of the host vehicle.
Further, the estimation unit 11 determines whether or not the
specific target is detected for the surrounding situation of the
host vehicle detected by the surrounding situation sensor 3 and, in
a case where the specific target is detected, presents the
detection of the specific target to the occupant. Thus, it is
possible to detect the specific target and cause the occupant to
easily grasp that the occupant is under an environment in which it
is easy to estimate the position of the host vehicle from the
relative positional relationship between the specific target and
the host vehicle. On the other hand, in a case where the specific
target has not been detected, the fact that the specific target has
not been detected is presented to the occupant. Thus, it is
possible to cause the occupant to easily grasp that the occupant is
under an environment in which the specific target cannot be
detected and it is difficult to estimate the position of the host
vehicle.
Further, the estimation unit 11 detects (estimates) the relative
positional relationship between the host vehicle and the target in
the detected surrounding situation, depending on the surrounding
situation of the host vehicle detected by the surrounding situation
sensor 3. Then, in a case where the positional relationship in the
stored surrounding situation of any of the detected host vehicle or
target is set via the operation unit 5, the positional relationship
in the stored surrounding situation of the other of the detected
host vehicle or target is set based on the relative positional
relationship between the host vehicle and the target. Thus, it is
possible to accurately estimate the position of the host vehicle
and the position of the target in the stored surrounding situation
by using the relative positional relationship between the host
vehicle and the target.
In the embodiment of the present invention, as illustrated in FIG.
4A, a case where the presentation unit 4 presents the image I1
obtained by superimposing the map data stored in the storage device
2 and the surrounding situation of the host vehicle detected by the
surrounding situation sensor 3, has been described. In contrast, as
illustrated in FIG. 7A, a first modification of the embodiment of
the present invention differs from the embodiment of the present
invention in that the surrounding situation of the host vehicle
detected by the surrounding situation sensor 3 is not presented and
only map data stored in the storage device 2 is presented. The map
data includes targets 21, 22, 23 and 24. Further, as illustrated in
FIG. 7A, a simulation vehicle 27 is presented at the position of
the host vehicle on the map data estimated by the estimation unit
11.
In this case, the occupant visually observes the actual surrounding
situation of the host vehicle and grasps a correspondence
relationship between the actual surrounding situation of the host
vehicle and the presented map data. Then, in a case where the
operation unit 5 is a touch panel, for example, as illustrated in
FIG. 7B, the occupant drags the simulation vehicle 27 in a
direction of an arrow (downward) with the finger 31 and drops the
simulation vehicle 27 at a position on the map data corresponding
to the position of the host vehicle in the actual surrounding
situation of the host vehicle. Thus, the positional relationship
between the map data and the host vehicle is set by moving the
simulation vehicle 27 with respect to the map data. Incidentally,
the occupant may set the positional relationship between the map
data and the host vehicle by touching and scrolling one of the
targets 21, 22, 23 and 24 on the map data and moving the entire map
data including the targets 21, 22, 23 and 24 with respect to the
simulation vehicle 27. The setting unit 13 corrects the position of
the host vehicle on the map data estimated by the estimation unit
11 to the position corresponding to FIG. 7B based on the operation
information of the occupant.
Incidentally, in FIG. 7A, a case where the simulation vehicle 27 is
presented on the map data is exemplified, but the simulation
vehicle 27 may not be presented on the map data. In this case, the
occupant may set the position of the host vehicle on the map data
by touching a position corresponding to the position of the host
vehicle on the map data. A case where the simulation vehicle 27 is
not presented on the map data, the surrounding situation of the
host vehicle by the surrounding situation sensor 3 may not be
detected, and the position of the host vehicle on the map data by
the estimation unit 11 may not be estimated.
According to the first modification of the embodiment of the
present invention, even in a case where only the map data is
presented without presenting the surrounding situation of the host
vehicle detected by the surrounding situation sensor 3, the
occupant can set the positional relationship between the map data
and the host vehicle correctly. Thus, the setting unit 13 can
accurately estimate the position of the host vehicle on the map
data by setting the position of the host vehicle on the map data
based on the operation information of the occupant.
In the embodiment of the present invention, as illustrated in FIG.
4A, a case where the presentation unit 4 presents the image I1
obtained by superimposing the map data stored in the storage device
2 and the surrounding situation of the host vehicle detected by the
surrounding situation sensor 3 and also presents the simulation
vehicle 27, has been described. In contrast, as illustrated in FIG.
8A, a second modification of the embodiment of the present
invention is the same as the embodiment of the present invention in
that the image I1 obtained by superimposing the map data and the
surrounding situation of the host vehicle is presented in the
presentation unit 4, but differs from the embodiment of the present
invention in that the simulation vehicle 27 is not presented.
In this case, for example, as illustrated in FIG. 8B, the occupant
matches the map data and the surrounding situation (point group
data) of the host vehicle by touching and scrolling the target 24
on the map data in the direction of the arrow (downward) with the
finger 31 to move the entire map data including the targets 21, 22,
23 and 24 in the downward direction. In addition, the occupant may
match the map data and the surrounding situation (point group data)
of the host vehicle by touching and scrolling an arbitrary portion
of the point group 26 of the surrounding situation (point group
data) of the host vehicle and moving the entire surrounding
situation (point group data) of the host vehicle. The setting unit
13 sets the position of the host vehicle on the map data based on
the operation information of the occupant.
According to the second modification of the embodiment of the
present invention, even in a case where the simulation vehicle 27
is not presented, the occupant can set the positional relationship
between the map data and the surrounding situation of the host
vehicle by presenting the map data stored in the storage device 2
and the surrounding situation of the host vehicle detected by the
surrounding situation sensor 3. Then, the setting unit 13 can
accurately estimate the position of the host vehicle on the map
data by setting the position of the host vehicle on the map data
based on the operation information of the occupant.
In the embodiment of the present invention, as illustrated in FIG.
4A, a case where the point group data is used as the surrounding
situation of the host vehicle detected by the surrounding situation
sensor 3 has been described. On the other hand, as illustrated in
FIG. 9A, a third modification of the embodiment of the present
invention differs from the embodiment of the present invention in
that camera image is used as the surrounding situation of the host
vehicle detected by the surrounding situation sensor 3.
As illustrated in FIG. 9A, an image I2 obtained by superimposing
the map data stored in the storage device 2 and the camera image as
the surrounding situation of the host vehicle detected by the
surrounding situation sensor 3 is presented in the presentation
unit 4. The camera image includes the targets 21a, 22a, 23a and
24a, and these targets 21a, 22a, 23a and 24a correspond to the
targets 21, 22, 23 and 24 of the map data stored in the storage
device 2. In this case, for example, as illustrated in FIG. 9B, the
occupant matches the map data and the camera image by touching and
scrolling the target 24 on the map data in the direction of the
arrow (downward) with the finger 31 to move the entire map data
including the targets 21, 22, 23, and 24 downward. Incidentally,
the occupant may match the camera image and the map data by
touching and scrolling any one of the targets 21a, 22a, 23a and 24a
of the camera image to move the entire camera image including the
targets 21a, 22a, 23a and 24a.
According to the third modification of the embodiment of the
present invention, it is easy for the occupant to intuitively grasp
the positional relationship between the map data and the
surrounding situation of the host vehicle by presenting the camera
image as the surrounding situation of the host vehicle detected by
the surrounding situation sensor 3, as compared with the case of
presenting a CG image.
As a fourth modification of the embodiment of the present
invention, a case where the position of the target of the
surrounding situation of the host vehicle detected by the
surrounding situation sensor 3 is individually set will be
described. FIG. 10A is an image I3 of the map data stored in the
storage device 2, and there are targets 41 and 42. FIG. 10B is an
image I4 of the surrounding situation of the host vehicle detected
by the surrounding situation sensor 3 and includes targets 41a and
42a. The targets 41a and 42a correspond to the targets 41 and 42 of
the map data illustrated in FIG. 10A, but the position of the
target 41a deviates from the actual position and is erroneously
detected. In FIG. 10B, a simulation vehicle 43 is presented at the
position of the host vehicle estimated by the estimation unit
11.
The presentation control unit 12 causes the presentation unit 4 to
present the image I3 of the map data illustrated in FIG. 10A and
the image I4 of the surrounding situation of the host vehicle
illustrated in FIG. 10B side by side. As illustrated in FIG. 10C,
the occupant performs an operation of setting the position of the
target 41a by dragging the target 41a of the surrounding situation
of the host vehicle in the direction of the arrow (right direction)
with the finger 31 and dropping the target 41a at the correct
position. The setting unit 13 sets (corrects) the position of the
target 41a of the surrounding situation of the host vehicle
detected by the surrounding situation sensor 3 based on the
operation information of the occupant. Further, the setting unit 13
sets (corrects) the position of the host vehicle as illustrated in
FIG. 10D based on the relative positional relationship between the
corrected targets 41a and 42a and the host vehicle.
According to the fourth modification of the embodiment of the
present invention, the position of the target in the surrounding
situation of the host vehicle detected by the surrounding situation
sensor 3 can be individually set, and the position of the host
vehicle can be set based on the set surrounding situation of the
host vehicle.
In the embodiment of the present invention, as illustrated in FIG.
4A, a case where the presentation unit 4 presents the image I1
obtained by superimposing the map data stored in the storage device
2 and the surrounding situation of the host vehicle detected by the
surrounding situation sensor 3, has been described. On the other
hand, as illustrated in FIG. 11A, a fifth modification of the
embodiment of the present invention differs from the embodiment of
the present invention in that the map data and the surrounding
situation of the host vehicle are arranged side by side without
being superimposed.
The left side of FIG. 11A is the image I5 of the map data stored in
the storage device 2 and includes the targets 21, 22, 23 and 24.
Incidentally, in the image I5 of the map data, a simulation vehicle
representing the position of the host vehicle on the map data
estimated by the estimation unit 11 may be presented. The right
side of FIG. 11A is the CG image I6 of the surrounding situation of
the host vehicle detected by the surrounding situation sensor 3 and
includes the targets 21a, 22a, 23a and 24a. The CG image I6 of the
surrounding situation of the host vehicle can be generated based
on, for example, point group data or camera image. In the CG image
I6 of the surrounding situation of the host vehicle, the simulation
vehicle 27 is presented at the position of the host vehicle
estimated by the estimation unit 11.
For example, as illustrated in FIG. 11A, the occupant sets the
position of the host vehicle on the map data by dragging the
simulation vehicle 27 of the image I6 of the surrounding situation
of the host vehicle on the right side and moving the simulation
vehicle 27 as indicated by an arrow to drop the simulation vehicle
27 at the position on the image I5 of the map data on the left
side. The setting unit 13 sets the position to which the simulation
vehicle 27 on the map data is dragged as the position of the host
vehicle based on the operation information of the occupant.
Alternatively, as illustrated in FIG. 11B, the occupant may set the
target 22a of the surrounding situation of the host vehicle to
match the target 22 of the map data by dragging the target 22a of
image I6 of the surrounding situation of the host vehicle on the
right side and moving the target 22a as indicated by the arrow to
drop the target 22a at the position of the target 22 of the image
I6 of the map data on the left side. Based on the operation
information of the occupant, the setting unit 13 corrects a result
of collating (matching) the map data and the surrounding situation
of the host vehicle so that the position of the target 22 of the
map data matches the position of the target 22a of the surrounding
situation of the host vehicle. Further, the setting unit 13
corrects the position of the host vehicle on the map data estimated
by the estimation unit 11, based on the result of collating
(matching) the corrected map data and the surrounding situation of
the host vehicle.
According to the fifth modification of the embodiment of the
present invention, even in a case where the map data stored in the
storage device 2 and the surrounding situation of the host vehicle
detected by the surrounding situation sensor 3 are presented side
by side, it is possible for the occupant to set the positional
relationship between the map data and the surrounding situation of
the host vehicle or the host vehicle. Then, the setting unit 13 can
accurately estimate the position of the host vehicle on the map
data by correcting the position of the host vehicle on the map data
estimated by the estimation unit 11 based on the operation
information of the occupant.
In the embodiment of the present invention, as illustrated in FIG.
4A, a case where the presentation unit 4 presents the overhead view
image I1 obtained by superimposing the map data stored in the
storage device 2 and the surrounding situation of the host vehicle
detected by the surrounding situation sensor 3, has been described.
On the other hand, as illustrated in FIG. 12A, a sixth modification
of the embodiment of the present invention differs from the
embodiment of the present invention in that a front image I7
obtained by superimposing the map data stored in the storage device
2 and the surrounding situation of the host vehicle detected by the
surrounding situation sensor 3 is presented.
As illustrated in FIG. 12A, the map data stored in the storage
device 2 includes a cross mark 52 corresponding to a marker 51. In
FIG. 12A, the surrounding situation of the host vehicle detected by
the surrounding situation sensor 3 includes a parking frame and the
marker 51. When the estimation unit 11 collates (matches) the map
data stored in the storage device 2 and the surrounding situation
of the host vehicle detected by the surrounding situation sensor 3,
the estimation unit 11 erroneously recognizes a puddle and the like
detected by the surrounding situation sensor 3 as the marker 51,
such that the cross mark 52 of the map data stored in the storage
device 2 and the position of the marker 51 are aligned to be
relatively deviated from each other.
As illustrated in FIG. 12B, the occupant sets the cross mark 52 to
match the marker 51 by dragging the cross mark 52 of the map data
with a finger and dropping the cross mark 52 at the position of the
marker 51. Based on the operation information of the occupant, the
setting unit 13 corrects the result of collating (matching) the map
data and the surrounding situation of the host vehicle so that the
position of the cross mark 52 of the map data matches the position
of the marker 51. Further, the setting unit 13 corrects the
position of the host vehicle on the map data estimated by the
estimation unit 11 based on the result of collating (matching) the
corrected map data and the surrounding situation of the host
vehicle.
According to the sixth modification of the embodiment of the
present invention, even in a case where the front image I7 obtained
by superimposing the map data stored in the storage device 2 and
the surrounding situation of the host vehicle detected by the
surrounding situation sensor 3 is presented, the occupant can set
the positional relationship between the map data and the
surrounding situation of the host vehicle. Then, the setting unit
13 can estimate the position of the host vehicle on the map data
accurately by correcting the position of the host vehicle on the
map data estimated by the estimation unit 11 based on the operation
information of the occupant.
As described above, the invention has been described according to
the embodiments, but it should not be understood that the
description and drawings forming a part of this disclosure limit
the invention. Various alternative embodiments, examples and
operational techniques will be apparent to those skilled in the art
in view of this disclosure.
In the embodiment of the present invention, a case where the map
data is presented as the CG image and the surrounding situation of
the host vehicle detected by the surrounding situation sensor 3 is
presented as point group data has been described, but the invention
is not limited thereto. For example, the map data may be presented
as a camera image and the surrounding situation of the host vehicle
detected by the surrounding situation sensor 3 may be presented as
the camera image. Alternatively, the map data may be presented as
the camera image and the surrounding situation of the host vehicle
detected by the surrounding situation sensor 3 may be presented as
the CG image. Alternatively, the map data may be presented as the
CG image and the surrounding situation of the host vehicle detected
by the surrounding situation sensor 3 may be presented as the
camera image.
Further, in the embodiment of the present invention, a case where
the presentation unit 4 is the display has been described, but the
presentation unit 4 may be a device other than the display. For
example, in a case where the presentation unit 4 is a speaker, the
presentation unit 4 can present to the occupant the surrounding
situation of the stored parking target position or the surrounding
situation of the host vehicle detected by the surrounding situation
sensor 3 by outputting a voice that describes the surrounding
situation of the stored parking target position or the surrounding
situation of the host vehicle detected by the surrounding situation
sensor 3.
As described above, it goes without saying that the invention
includes various embodiments and the like not described herein.
Therefore, the technical scope of the invention is determined by
only the invention-specifying matters pertaining to the claims
proper in view of the above description.
REFERENCE SIGNS LIST
1 CONTROL DEVICE 2 STORAGE DEVICE 3 SURROUNDING SITUATION SENSOR 4
PRESENTATION UNIT 5 OPERATION UNIT 11 ESTIMATION UNIT 12
PRESENTATION CONTROL UNIT 13 SETTING UNIT 14 PARKING ASSISTANCE
UNIT
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